\section*{\large Objectives}
\begin{normalsize}

This lab is a variant of lab 2. We still have to make the robot move in a static/dynamic map but on the basis of the output of an omnidirectional camera, see Figure \ref{fig:omniview}. The omnidirectional camera consists of a standard webcam and a hyperbolic, almost spherical, mirror. Since the camera is looking upward at the mirror, a $2\pi$ field of view of the surrounding environment can be obtained. You can watch our video at \url{https://www.youtube.com/watch?v=c4x1G9pmJB4} and find our source code at \url{https://bitbucket.org/
iaslab-unipd/robotics-labs-antonello-bardelle}.

\begin{figure}[H]
\centering
\includegraphics[scale=0.35]{./images/1402471650.jpg}
\caption{omnidirectional view \label{fig:omniview}}
\end{figure}

\end{normalsize}